CN111975341B - Gearbox housing screw feeding and discharging double-wrist robot system - Google Patents
Gearbox housing screw feeding and discharging double-wrist robot system Download PDFInfo
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- CN111975341B CN111975341B CN202010946289.1A CN202010946289A CN111975341B CN 111975341 B CN111975341 B CN 111975341B CN 202010946289 A CN202010946289 A CN 202010946289A CN 111975341 B CN111975341 B CN 111975341B
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- 238000007599 discharging Methods 0.000 title claims description 28
- 210000000707 wrist Anatomy 0.000 claims abstract description 10
- 238000001514 detection method Methods 0.000 claims description 17
- 230000009977 dual effect Effects 0.000 claims 7
- 238000010586 diagram Methods 0.000 description 9
- 230000005540 biological transmission Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000012163 sequencing technique Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/007—Picking-up and placing mechanisms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
- B23P19/06—Screw or nut setting or loosening machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
- B25J15/0038—Cylindrical gripping surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/0293—Gripping heads and other end effectors servo-actuated comprising parallel grippers having fingers directly connected to actuator
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
Gearbox housing screw goes up unloading two wrist robot system, including mounting base, its characterized in that: the feeding device also comprises a feeding mechanical arm, a grabbing mechanical arm, a feeding device, a feeding gripper mechanism and a placing gripper mechanism; the bases of the feeding mechanical arm and the grabbing mechanical arm are respectively connected to the mounting base in a rotating mode; the connecting part of the feeding gripper mechanism is arranged at the tail end of an arm of the feeding mechanical arm, and the feeding gripper mechanism is used for receiving screws conveyed from the feeding device; the connecting part of the placing gripper mechanism is arranged at the tail end of the arm of the grabbing mechanical arm, and the placing gripper mechanism is used for placing the screw into a screw hole of the gearbox shell after grabbing the screw from the feeding gripper mechanism. Secondly, be provided with material loading tongs mechanism, overall structure is simple, can put into the square hole with the screw in the conveying mechanism and fix. The clamping plate can be subjected to fine tuning back and forth by fine tuning back and forth through the connecting plate. The application range is wider, and the compatibility is better.
Description
Technical Field
The invention relates to the field of conveying equipment, in particular to a gearbox shell screw feeding and discharging double-wrist robot system.
Background
The gearbox mainly comprises a gearbox body and a shell, and the gearbox shell and the gearbox body are fixedly connected through screws, so that the gearbox shell is shown in fig. 1, and screw holes are formed along the periphery of the gearbox shell. During assembly, it is necessary to sequentially insert the screws into screw holes in the gearbox housing, and then lock the screws.
Conventionally, screws are manually placed into screw holes of a transmission housing by an operator, followed by locking. By adopting the mode, the labor intensity is high, the efficiency is low, an operator is required to repeatedly and manually take out the screw, the operator is easy to tired after working for a period of time, and meanwhile, the product yield of the production line is reduced. Therefore, in order to improve efficiency, a gearbox housing screw loading and unloading double-wrist robot system is needed to solve the above problems.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a gearbox housing screw feeding and discharging double-wrist robot system, which has the following specific technical scheme:
gearbox housing screw goes up unloading two wrist robot system, including mounting base, its characterized in that: the feeding device also comprises a feeding mechanical arm, a grabbing mechanical arm, a feeding device, a feeding gripper mechanism and a placing gripper mechanism;
The bases of the feeding mechanical arm and the grabbing mechanical arm are respectively connected to the mounting base in a rotating mode;
The connecting part of the feeding gripper mechanism is arranged at the tail end of an arm of the feeding mechanical arm, and the feeding gripper mechanism is used for receiving screws conveyed from the feeding device;
the connecting part of the placing gripper mechanism is arranged at the tail end of the arm of the grabbing mechanical arm, and the placing gripper mechanism is used for placing the screw into a screw hole of the gearbox shell after grabbing the screw from the feeding gripper mechanism.
Further: the feeding device comprises a vibration disc, a chute and a discharging mechanism, wherein the output end of the vibration disc is connected with the feeding end of the chute, and the discharging end of the chute is communicated with the feeding port of the discharging mechanism;
The discharging mechanism comprises a supporting frame, a first pushing device, a second pushing device, a limiting device, a flow dividing device, a first conveying plate and a second conveying plate;
the first conveying plate and the second conveying plate are oppositely arranged, the first conveying plate is connected to the output end of the first pushing device, and the second conveying plate is connected to the output end of the second pushing device;
When feeding, a material channel is formed between the first conveying plate and the second conveying plate, the feeding end of the material channel is communicated with the discharging end of the chute, and the feeding end of the material channel is a feeding port of the discharging mechanism;
The limiting device is arranged on the supporting frame, and the limiting end of the limiting device is adjacent to the discharging end of the material channel;
the support frame is respectively provided with a feeding detection sensor and a positioning sensor, wherein the feeding detection sensor is close to the inlet end of the material channel, and the positioning sensor is close to the outlet end of the material channel;
When blanking, the first pushing device drives the first conveying plate to move, and the second pushing device drives the second conveying plate to move;
The first conveying plate is opened relative to the second conveying plate.
Further: the support frame is provided with the flow dividing device, the flow dividing device comprises a flow dividing block and a flow dividing cylinder, the output end of the flow dividing cylinder is connected with the flow dividing block, and the free end of the flow dividing block is aligned between the discharge end of the chute and the inlet end of the material channel.
Further: the feeding detection sensor and the positioning sensor are laser detection sensors.
Further: the feeding gripper mechanism comprises a feeding connecting seat, a fixed plate, a sliding plate, a connecting plate, a third push-pull device and a clamping plate;
The bottom of the feeding connecting seat is arranged at the top of the fixed plate, and the top of the feeding connecting seat is connected with the tail end of the feeding mechanical arm;
The third push-pull device is arranged at the lower part of the fixed plate, the inner end of the sliding plate is connected with the output end of the third push-pull device, and the outer end of the sliding plate is connected with the bottom of the connecting plate;
the clamping plate is connected to the top of the connecting plate;
the outer side surface of the fixed plate is uniformly provided with first triangular teeth along the length direction;
second triangular teeth corresponding to the first triangular tooth structure are uniformly formed on the inner side surface of the clamping plate along the length direction;
the outer side surface of the fixing plate is attached to the inner side surface of the clamping plate, and the first triangular teeth and the second triangular teeth at corresponding positions are combined to form square holes.
Further: a first waist-shaped hole is formed in the clamping plate along the length direction, and the length direction of the first waist-shaped hole is consistent with the length direction of the clamping plate;
The first waist-shaped hole is a stepped hole, a first connecting bolt is arranged in the first waist-shaped hole, and the clamping plate is installed on the connecting plate through the first connecting bolt.
Further: the length direction of the connecting plate is uniformly provided with second waist-shaped holes, and the length direction of the second waist-shaped holes is consistent with the width direction of the connecting plate.
Further: the hand grip placing mechanism comprises a fixed support, a hand grip connecting seat, a pushing device, a guide plate, a connecting frame and a sliding plate;
a gripper connecting seat is arranged at the top of the fixed support and is connected with the tail end of the gripper mechanical arm;
The two guide plates are oppositely arranged at two sides of the fixed support, the two guide plates are vertically arranged, the upper ends of the guide plates are fixedly connected to the fixed support, and limit grooves are formed in the guide plates along the length direction;
the sliding plate is arranged between the two guide plates, limiting rods are respectively arranged on two sides of the sliding plate, and the limiting rods extend into limiting grooves on one side respectively;
The pushing device is arranged on the fixed support, the lifting end of the pushing device is connected with one end of the connecting frame, the other end of the connecting frame is connected with the inner side of the sliding plate, and the outer side of the sliding plate is fixedly connected with the clamping device.
Further: the lifting end of the pushing device is also connected with a fourth push-pull device, the output end of the fourth push-pull device is connected with a limiting block, a limiting notch is formed in the middle of the outer side face of the limiting block, and the clamping device is located in the limiting notch.
Further: the clamping device comprises a clamping cylinder and two clamping rods, wherein the two clamping rods are respectively arranged at two clamping ends of the clamping cylinder.
The beneficial effects of the invention are as follows: first, be provided with vibration dish and spout, through putting into the vibration dish with the screw, the screw in the vibration dish enters into in proper order in the spout, preliminary completion screw's sequencing forms material passageway between first delivery plate and second delivery plate, and the feeding detection sensor of setting, when the screw is from the entry end of material passageway entering, the feeding detection sensor of setting counts the statistics to every screw through the entry end, has accomplished the count function of screw. The positioning sensor is used for detecting whether a screw positioned at a discharge hole of the material channel reaches a position marked by the positioning sensor. During blanking, the first conveying plate is opened 6-10 relative to the second conveying plate, 13 screws fall into the next device, the whole process from arrangement to conveying of the screws is completed, and manual selection of operators is avoided.
Secondly, be provided with material loading tongs mechanism, overall structure is simple, can put into the square hole with the screw in the conveying mechanism and fix. The clamping plate can be subjected to fine tuning back and forth by fine tuning back and forth through the connecting plate. The application range is wider, and the compatibility is better.
Thirdly, be provided with unloading tongs mechanism, whole mechanism is simple, the equipment of being convenient for, and the material grabbing arm drives and places the tongs mechanism and snatch the screw in the material loading tongs mechanism after, place in the screw hole in the gearbox casing 1.
Drawings
FIG. 1 is a schematic diagram of a transmission housing;
FIG. 2 is a schematic diagram of the operation of the present invention;
FIG. 3 is a schematic diagram of a feed device;
FIG. 4 is a block diagram of FIG. 3 with the vibration plate removed;
FIG. 5 is a first block diagram of the loading gripper mechanism;
FIG. 6 is a second block diagram of the loading gripper mechanism;
fig. 7 is a third structural view of the feeding gripper mechanism;
FIG. 8 is a block diagram of a placement gripper mechanism;
The drawing illustrates that a gearbox shell 1, an assembling table 2, a mounting base 3, a feeding mechanical arm 4, a grabbing mechanical arm 5, a feeding device 6, a vibration disc 6-1, a sliding chute 6-2, a supporting frame 6-3, a first pushing device-first cylinder 6-4, a second pushing device-second cylinder 6-5, a limiting device 6-6, a split cylinder 6-7, a split block 6-8, a first conveying plate 6-9, a second conveying plate 6-10, a material channel 6-11, a feeding detection sensor 6-12, a positioning sensor 6-13, a feeding gripper mechanism 7, a feeding connecting seat 7-1, a fixed plate 7-2, a sliding plate 7-3, a connecting plate 7-4, a third pushing device-third cylinder 7-5, a clamping plate 7-6, a first triangular tooth 7-7, a second triangular tooth 7-8, a square hole 7-9, a first waist-shaped hole 7-10, a placing gripper mechanism 8, a fixed bracket 8-1, a gripper connecting seat 8-2, a pushing device 8-3, a guide plate 8-9, a sliding guide plate 8-8, a clamping screw hole 8-8, a clamping groove 8-8, a four-notch 8-8, a limiting device 8-8, a clamping screw hole 8-8, a four-8-notch 8-8 and a clamping device.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that the azimuth or positional relationship indicated by the terms "vertical", "upper", "lower", "horizontal", etc. are based on the azimuth or positional relationship shown in the drawings, and are merely for convenience of description of the present invention and to simplify the description, rather than to indicate or imply that the apparatus or elements referred to must have a specific azimuth, and are configured and operated in a specific azimuth, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," "fourth," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, integrally connected, mechanically connected, electrically connected, directly connected, connected via an intermediary, or connected by communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
As shown in fig. 1, 13 screw holes are distributed around the transmission housing 1, and the present invention requires that screws be placed into the screw holes of the transmission housing 1 by an automatic method.
The overall structure of this example is schematically shown in fig. 2:
a gearbox shell screw feeding and discharging double-wrist robot system comprises a mounting base 3, a feeding mechanical arm 4, a grabbing mechanical arm 5, a feeding device 6, a feeding gripper mechanism 7 and a placing gripper mechanism 8;
The feeding mechanical arm 4 and the grabbing mechanical arm 5 are of multi-axis mechanical arm structures, in the embodiment, a kawasaki double-wrist robot is adopted, the feeding mechanical arm 4 is correspondingly an upper arm of a double-bowl robot, the grabbing mechanical arm 5 is correspondingly a lower arm of the double-bowl robot, and the double-bowl robot is adopted in the invention, has a cooperation function and protects people from being damaged in the operation process of the double-bowl robot. Mature products are available in the market, and the existing mechanical arm structures in the market can be applied to the scene of the invention;
the connecting part of the feeding gripper mechanism is arranged at the tail end of the upper arm of the double-bowl robot, and the feeding gripper mechanism is used for receiving the screw conveyed from the feeding device;
The connecting part of the placing gripper mechanism is arranged at the tail end of the lower arm of the double-bowl robot, and the placing gripper mechanism is used for placing the screw into a screw hole of the gearbox shell after grabbing the screw from the feeding gripper mechanism.
In this embodiment, the explanatory schematic diagrams of the feeding device 6 are shown in fig. 2 and 3, where the feeding device 6 includes a vibration disc 6-1, a chute 6-2, and a discharging mechanism, the output end of the vibration disc 6-1 is connected to the feeding end of the chute 6-2, where the vibration disc 6-1 is an existing mature standard component, a screw 9 is placed in the vibration disc 6-1, and the screw is sequentially drawn into the chute 6-2 from the vibration disc 6-1 through vibration of the vibration disc 6-1, and the discharging end of the chute 6-2 is communicated with the feeding port of the discharging mechanism;
the discharging mechanism comprises a supporting frame 6-3, a first pushing device 6-4, a second pushing device 6-5, a limiting device 6-6, a flow dividing device 6-7, a first conveying plate 6-9 and a second conveying plate 6-10;
The first pushing device 6-4 and the second pushing device 6-5 are in a linear pushing structure, and in this embodiment, the first pushing device 6-4 and the second pushing device 6-5 are a first cylinder and a second cylinder, respectively.
The first conveying plate 6-9 and the second conveying plate 6-10 are oppositely arranged, the first conveying plate 6-9 is connected to the output end of the first pushing device 6-4, and the second conveying plate 6-10 is connected to the output end of the second pushing device 6-5;
when feeding, a material channel 6-11 is formed between the first conveying plate 6-9 and the second conveying plate 6-10, the feeding end of the material channel 6-11 is communicated with the discharging end of the chute 6-2, the feeding end of the material channel 6-11 is a feeding port of the discharging mechanism, and a screw sliding out from the discharging end in the chute 6-2 enters the material channel 6-11;
the limiting device 6-6 is arranged on the supporting frame 6-3, the limiting end of the limiting device 6-6 is adjacent to the discharging end of the material channel 6-11, and the limiting device 6-6 is blocked at the discharging end of the material channel 6-11 to prevent the screw from sliding out of the material channel 6-11;
The support frame 6-3 is provided with the flow dividing device, the flow dividing device comprises a flow dividing cylinder 6-7 and a flow dividing block 6-8, the output end of the flow dividing cylinder 6-7 is connected with the flow dividing block 6-8, and the free end of the flow dividing block 6-8 is aligned between the discharge end of the chute 6-2 and the inlet end of the material channel 6-11.
The support frame 6-3 is respectively provided with a feeding detection sensor 6-12 and a positioning sensor 6-13, the feeding detection sensor 6-12 is close to the inlet end of the material channel 6-11, the positioning sensor 6-13 is close to the outlet end of the material channel 6-11, and in the embodiment, the feeding detection sensor 6-12 and the positioning sensor 6-13 are laser detection sensors.
When a screw enters from the inlet end of the material channel 6-11, the feeding detection sensor 6-12 counts the number of screws passing through the inlet end of each screw, in this embodiment, the number of screws which can be accommodated in the material channel 6-11 is 13, when the feeding detection sensor 6-12 detects the 13 th screw, the split cylinder 6-7 drives the separation block 6-8 to act, the split block 6-8 extends forwards, the split block 6-8 is located between the discharge end of the chute 6-2 and the inlet end of the material channel 6-11, the split block 6-8 separates the screws at the discharge end of the chute 6-2 from the screws in the material channel 6-11, 13 screws are left in the material channel 6-11, and the positioning sensor 6-13 is used for detecting whether the screws located at the discharge port of the material channel 6-11 reach the positions marked by the positioning sensor 6-13.
During blanking, the first pushing device 6-4 drives the first conveying plate 6-9 to move outwards and linearly, and the second pushing device 6-5 drives the second conveying plate 6-10 to move inwards and linearly;
The first transfer plate 6-9 is splayed relative to the second transfer plate 6-10.
The structure of the feeding gripper mechanism is shown in fig. 5 to 7, and the feeding gripper mechanism 7 comprises a feeding connecting seat 7-1, a fixed plate 7-2, a sliding plate 7-3, a connecting plate 7-4, a third push-pull device 7-5 and a clamping plate 7-6, wherein the third push-pull device 7-5 is a third air cylinder;
the bottom of the feeding connecting seat 7-1 is arranged at the top of the fixed plate 7-2, and the top of the feeding connecting seat 7-1 is connected with the tail end of the feeding mechanical arm 4;
the third push-pull device 7-5 is arranged at the lower part of the fixed plate 7-2, the inner end of the sliding plate 7-3 is connected with the output end of the third push-pull device 7-5, and the outer end of the sliding plate 7-3 is connected with the bottom of the connecting plate 7-4;
the clamping plate 7-6 is connected to the top of the connecting plate 7-4;
13 first triangular teeth 7-7 are uniformly formed on the outer side surface of the fixed plate 7-2 along the length direction;
the inner side surface of the clamping plate 7-6 is uniformly provided with second triangular teeth 7-8 corresponding to the structure of the first triangular teeth 7-7 along the length direction;
The outer side surface of the fixing plate 7-2 is attached to the inner side surface of the clamping plate 7-6, and the first triangular teeth 7-7 and the second triangular teeth 7-8 at corresponding positions are combined to form square holes 7-9.
The feeding mechanical arm drives the feeding grabbing mechanism to be located right below the material channel 6-11, the fixed plate 7-2 and the clamping plate 7-6 are close to form square holes 7-9, the square holes sequentially correspond to 13 screws in the material channel 6-11, the third pushing and pulling device 7-5 drives the clamping plate 7-6 to open relative to the fixed plate 7-2, the lower end of each screw is located between the first triangular tooth 7-7 and the second triangular tooth 7-8, then the third pushing and pulling device 7-5 drives the clamping plate 7-6 to close relative to the fixed plate 7-2, the lower end of each screw is located in the corresponding square hole 7-9, and when the first conveying plate 6-9 opens relative to the second conveying plate 6-10, 13 screws simultaneously fall into the corresponding square holes 7-9.
A first waist-shaped hole 7-10 is formed in the clamping plate 7-6 along the length direction, and the length direction of the first waist-shaped hole 7-10 is consistent with the length direction of the clamping plate 7-6;
the first waist-shaped holes 7-10 are stepped holes, first connecting bolts are arranged in the first waist-shaped holes 7-10, and the clamping plates 7-6 are mounted on the connecting plates 7-4 through the first connecting bolts, so that the clamping plates 7-6 can be subjected to left-right fine adjustment relative to the connecting plates 7-4.
The fixing plate 7-2 is uniformly provided with second waist-shaped holes along the length direction, the length direction of the second waist-shaped holes is consistent with the width direction of the connecting plate 7-4, second connecting bolts are arranged in the second waist-shaped holes, and the connecting plate is installed on the fixing plate through the second connecting bolts. The connecting plate 7-4 is used for fine tuning back and forth on the fixing plate 7-2, so that the clamping plate 7-6 can be subjected to fine tuning back and forth.
As shown in fig. 8, a schematic diagram of a structure of the placement gripper in this embodiment is shown, where the placement gripper mechanism 8 includes a fixed bracket 8-1, a gripper connecting seat 8-2, a pushing device 8-3, a guide plate 8-4, a connecting frame 8-5, and a sliding plate 8-6;
a handle connecting seat 8-2 is arranged at the top of the fixed support 8-1, and the handle connecting seat 8-2 is connected with the tail end of the material grabbing mechanical arm 5;
the two guide plates 8-4 are oppositely arranged at two sides of the fixed support 8-1, the two guide plates 8-4 are vertically arranged, the upper ends of the guide plates 8-4 are fixedly connected to the fixed support 8-1, and limit grooves 8-7 are formed in the guide plates 8-4 along the length direction;
The sliding plates 8-6 are arranged between the two guide plates 8-4, limit rods are respectively arranged on two sides of the sliding plates 8-6, and the limit rods extend into limit grooves 8-7 on the corresponding sides;
The pushing device 8-3 is arranged on the fixed support 8-1, the pushing device 8-3 is a pneumatic cylinder, the lifting end of the pushing device 8-3 is connected with one end of the connecting frame 8-5, the other end of the connecting frame 8-5 is connected with the inner side of the sliding plate 8-6, and the outer side of the sliding plate 8-6 is fixedly connected with the clamping device.
The lifting end of the pushing device 8-3 is also connected with a fourth push-pull device 8-10, the output end of the fourth push-pull device 8-10 is connected with a limiting block 8-11, the middle part of the outer side surface of the limiting block 8-11 is provided with a limiting gap 8-12, and the clamping device is positioned in the limiting gap 8-12.
In this embodiment, the clamping device includes a clamping cylinder 8-8 and two clamping rods 8-9, where the two clamping rods 8-9 are respectively installed at two clamping ends of the clamping cylinder 8-8.
The pushing device drives the sliding plate to slide up and down in the limit grooves on the two guide plates through the connecting frame, when the screw needs to be grabbed in the square hole, the pushing device drives the sliding plate to move down to a set position, the clamping cylinder clamps the screw in the square hole through the two clamping rods, then the material grabbing mechanical arm drives the material loading gripping mechanism to move to the upper side of the gearbox housing, the clamped screw is aligned to the screw hole needing to be placed, the pushing device drives the sliding plate to descend, the screw is inserted into the screw hole, the clamping cylinder is loosened, and the set fourth pushing device drives the limiting block to limit the clamping device, so that the two clamping rods are prevented from being too large in tension, and the clamping rods and the gearbox housing are interfered. The feeding mechanical arm drives the feeding grippers to synchronously move, so that the distance between the grabbing mechanical arm and the feeding mechanical arm is the same, and the grabbing speed of the grabbing mechanical arm is increased.
Claims (8)
1. Gearbox housing screw goes up unloading two wrist robot system, including mounting base, its characterized in that: the feeding device also comprises a feeding mechanical arm, a grabbing mechanical arm, a feeding device, a feeding gripper mechanism and a placing gripper mechanism;
The bases of the feeding mechanical arm and the grabbing mechanical arm are respectively connected to the mounting base in a rotating mode;
The connecting part of the feeding gripper mechanism is arranged at the tail end of an arm of the feeding mechanical arm, and the feeding gripper mechanism is used for receiving screws conveyed from the feeding device;
The connecting part of the placing gripper mechanism is arranged at the tail end of the arm of the material grabbing mechanical arm, and the placing gripper mechanism is used for grabbing a screw from the feeding gripper mechanism and then placing the screw into a screw hole of the gearbox shell;
the feeding device comprises a vibration disc, a chute and a discharging mechanism, wherein the output end of the vibration disc is connected with the feeding end of the chute, and the discharging end of the chute is communicated with the feeding port of the discharging mechanism;
The discharging mechanism comprises a supporting frame, a first pushing device, a second pushing device, a limiting device, a flow dividing device, a first conveying plate and a second conveying plate;
the first conveying plate and the second conveying plate are oppositely arranged, the first conveying plate is connected to the output end of the first pushing device, and the second conveying plate is connected to the output end of the second pushing device;
When feeding, a material channel is formed between the first conveying plate and the second conveying plate, the feeding end of the material channel is communicated with the discharging end of the chute, and the feeding end of the material channel is a feeding port of the discharging mechanism;
The limiting device is arranged on the supporting frame, and the limiting end of the limiting device is adjacent to the discharging end of the material channel;
the support frame is respectively provided with a feeding detection sensor and a positioning sensor, wherein the feeding detection sensor is close to the inlet end of the material channel, and the positioning sensor is close to the outlet end of the material channel;
When blanking, the first pushing device drives the first conveying plate to move, and the second pushing device drives the second conveying plate to move;
The first conveying plate is opened relative to the second conveying plate;
the feeding gripper mechanism comprises a feeding connecting seat, a fixed plate, a sliding plate, a connecting plate, a third push-pull device and a clamping plate;
The bottom of the feeding connecting seat is arranged at the top of the fixed plate, and the top of the feeding connecting seat is connected with the tail end of the feeding mechanical arm;
The third push-pull device is arranged at the lower part of the fixed plate, the inner end of the sliding plate is connected with the output end of the third push-pull device, and the outer end of the sliding plate is connected with the bottom of the connecting plate;
the clamping plate is connected to the top of the connecting plate;
the outer side surface of the fixed plate is uniformly provided with first triangular teeth along the length direction;
second triangular teeth corresponding to the first triangular tooth structure are uniformly formed on the inner side surface of the clamping plate along the length direction;
the outer side surface of the fixing plate is attached to the inner side surface of the clamping plate, and the first triangular teeth and the second triangular teeth at corresponding positions are combined to form square holes.
2. The gearbox housing screw loading and unloading dual wrist robotic system of claim 1, wherein: the support frame is provided with the flow dividing device, the flow dividing device comprises a flow dividing block and a flow dividing cylinder, the output end of the flow dividing cylinder is connected with the flow dividing block, and the free end of the flow dividing block is aligned between the discharge end of the chute and the inlet end of the material channel.
3. The gearbox housing screw loading and unloading dual wrist robot system of claim 2, wherein: the feeding detection sensor and the positioning sensor are laser detection sensors.
4. A gearbox housing screw loading and unloading dual wrist robotic system as recited in claim 3, wherein:
a first waist-shaped hole is formed in the clamping plate along the length direction, and the length direction of the first waist-shaped hole is consistent with the length direction of the clamping plate;
The first waist-shaped hole is a stepped hole, a first connecting bolt is arranged in the first waist-shaped hole, and the clamping plate is installed on the connecting plate through the first connecting bolt.
5. The gearbox housing screw loading and unloading dual wrist robotic system of claim 4, wherein: the fixing plate is evenly provided with second waist-shaped holes along the length direction, the length direction of the second waist-shaped holes is consistent with the width direction of the connecting plate, the second waist-shaped holes are internally provided with second connecting bolts, and the connecting plate is installed on the fixing plate through the second connecting bolts.
6. The gearbox housing screw loading and unloading dual wrist robotic system of claim 1, wherein: the hand grip placing mechanism comprises a fixed support, a hand grip connecting seat, a pushing device, a guide plate, a connecting frame and a sliding plate;
a gripper connecting seat is arranged at the top of the fixed support and is connected with the tail end of the gripper mechanical arm;
The two guide plates are oppositely arranged at two sides of the fixed support, the two guide plates are vertically arranged, the upper ends of the guide plates are fixedly connected to the fixed support, and limit grooves are formed in the guide plates along the length direction;
the sliding plate is arranged between the two guide plates, limiting rods are respectively arranged on two sides of the sliding plate, and the limiting rods extend into limiting grooves on one side respectively;
The pushing device is arranged on the fixed support, the lifting end of the pushing device is connected with one end of the connecting frame, the other end of the connecting frame is connected with the inner side of the sliding plate, and the outer side of the sliding plate is fixedly connected with the clamping device.
7. The gearbox housing screw loading and unloading dual wrist robotic system of claim 6, wherein: the lifting end of the pushing device is also connected with a fourth push-pull device, the output end of the fourth push-pull device is connected with a limiting block, a limiting notch is formed in the middle of the outer side face of the limiting block, and the clamping device is located in the limiting notch.
8. The gearbox housing screw loading and unloading dual wrist robotic system of claim 7, wherein: the clamping device comprises a clamping cylinder and two clamping rods, wherein the two clamping rods are respectively arranged at two clamping ends of the clamping cylinder.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010946289.1A CN111975341B (en) | 2020-09-10 | 2020-09-10 | Gearbox housing screw feeding and discharging double-wrist robot system |
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| CN202010946289.1A CN111975341B (en) | 2020-09-10 | 2020-09-10 | Gearbox housing screw feeding and discharging double-wrist robot system |
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| CN111975341B true CN111975341B (en) | 2024-07-26 |
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| CN107000203A (en) * | 2014-12-26 | 2017-08-01 | 川崎重工业株式会社 | Mechanical arm |
| CN107597987A (en) * | 2017-09-30 | 2018-01-19 | 万控智造浙江电气有限公司 | A kind of conveying pressure riveting mechanism of positioning sleeve |
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